Data Fusion Of LiDAR And Millimeter-wave Radar During Ship Berthing

Achieving autonomous and safe berthing can reflect the intelligence level of MASS(Maritime Autonomous Surface Ship),and is also an important manifestation to ensure the safe navigation of the ship.As two high-precision sensing sensors,Li DAR(Light Detection and Ranging)and MMW Radar(Millimeter-wave Radar)can sense the navigation environment and provide environmental data support for ship berthing.However,the use of one of them has certain drawbacks,and the fusion of the sensory data from both sensors can provide more accurate and rich berthing dynamic information.Therefore,this thesis proposed a data processing method by fusing asynchronous sensor multi-Li DAR point clouds and MMW Radar data to obtain berthing-related parameters.The main work is as follows:(1)The characteristics of solid-state Li DAR are analyzed,and a data-level fusion method of multiple solid-state Li DAR point clouds is proposed,i.e.,multiple solid-state Li DARs are grouped into intra-group Li DARs and inter-group Li DARs.the point clouds of intra-group Li DARs and inter-group Li DARs are processed according to the spatial position relationship and the 3D-NDT algorithm based on point cloud alignment to realize the multi-Li DAR point cloud data-level fusion.(2)An asynchronous sensor data processing method is developed.The method is based on the designed spatio-temporal synchronization method,which effectively extracts the berthing information collected by the asynchronous sensors by filtering and clustering the Li DAR point clouds and MMW Radar point traces separately,and processes the collected information and parameters.The processed data is then used as input to a decision-level fusion system to improve the overall performance of the berthing assistance system.(3)In order to obtain more accurate parameter information for the auxiliary function of berthing unmanned ships,a berthing parameter calculation method based on decision-level fusion of asynchronous sensor Li DAR and millimeter wave radar data by weighted fusion idea is proposed,and a real ship test is conducted to verify the effectiveness of the method.The results show that this paper has good performance in using the berthing parameters obtained from the Li DAR point cloud and MMW Radar data,and the algorithm of using decision-level data fusion to obtain the final berthing parameters,which not only can effectively improve the berthing efficiency of the ship,but also can reduce the possible safety hazards during the berthing process of the ship.In addition,the fusion algorithm can also improve the safety of the system while assisting in achieving efficient berthing of the ship,making the ship berthing safer and more reliable.